| contributor author | Amine, Semaan | |
| contributor author | Mokhiamar, Ossama | |
| contributor author | Caro, Stéphane | |
| date accessioned | 2017-11-25T07:18:13Z | |
| date available | 2017-11-25T07:18:13Z | |
| date copyright | 2016/2/12 | |
| date issued | 2017 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_009_01_011003.pdf | |
| identifier uri | http://138.201.223.254:8080/yetl1/handle/yetl/4235046 | |
| description abstract | This paper presents a classification of 3T1R parallel manipulators (PMs) based on the wrench graph. By using the theory of reciprocal screws, the properties of the three-dimensional projective space, the wrench graph, and the superbracket decomposition of Grassmann–Cayley algebra, six typical wrench graphs for 3T1R parallel manipulators are obtained along with their singularity conditions. Furthermore, this paper shows a way in which each of the obtained typical wrench graphs can be used in order to synthesize new 3T1R parallel manipulator architectures with known singularity conditions and with an understanding of their geometrical properties and assembly conditions. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Classification of 3T1R Parallel Manipulators Based on Their Wrench Graph | |
| type | Journal Paper | |
| journal volume | 9 | |
| journal issue | 1 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4035188 | |
| journal fristpage | 11003 | |
| journal lastpage | 011003-10 | |
| tree | Journal of Mechanisms and Robotics:;2017:;volume( 009 ):;issue: 001 | |
| contenttype | Fulltext | |
